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export object auto-deactivation (sleeping) to pybullet (needs some more testing/configuring)

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This commit is contained in:
Erwin Coumans
2018-05-30 18:37:08 -07:00
parent 14c6dee6a3
commit 491ecf2a20
5 changed files with 29 additions and 1 deletions
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2
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -359,7 +359,7 @@ void ConvertURDF2BulletInternal(
if (cache.m_bulletMultiBody==0)
{
bool canSleep = false;
bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
int totalNumJoints = cache.m_totalNumJoints1;
cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);

1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -29,6 +29,7 @@ enum ConvertURDFFlags {
CUF_GLOBAL_VELOCITIES_MB=256,
CUF_MJCF_COLORS_FROM_FILE=512,
CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
CUF_ENABLE_SLEEPING=2048,
};
struct UrdfVisualShapeCache

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -682,6 +682,7 @@ enum eURDF_Flags
URDF_GLOBAL_VELOCITIES_MB =256,
MJCF_COLORS_FROM_FILE=512,
URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
URDF_ENABLE_SLEEPING=2048,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

25
examples/pybullet/examples/sleepObjectAutoDeactivation.py Normal file
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@@ -0,0 +1,25 @@
import pybullet as p
import time
useMaximalCoordinates=False
flags = 0#p.URDF_ENABLE_SLEEPING
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane100.urdf",flags=flags, useMaximalCoordinates=useMaximalCoordinates)
#p.loadURDF("cube_small.urdf", [0,0,0.5], flags=flags)
for k in range (10):
for i in range (10):
r2d2=p.loadURDF("r2d2.urdf",[k*2,i*2,1], useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES+flags)
for j in range (p.getNumJoints(r2d2)):
p.setJointMotorControl2(r2d2,j,p.VELOCITY_CONTROL,targetVelocity=0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
timestep = 1./240.
p.setTimeStep(timestep)
p.setGravity(0,0,-10)
while p.isConnected():
p.stepSimulation()
time.sleep(timestep)

1
examples/pybullet/pybullet.c
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@@ -9308,6 +9308,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);